舵机控制系统的设计

舵机控制系统的设计

湖南涉外经济学院本科毕业论文（设计）

题目舵机控制系统的设计作者nnnnn

学院信息科学与工程学院专业电子信息工程

学号nnnnn

指导教师nnnnn

二〇年月日

湖南涉外经济学院本科毕业论文（设计）诚信声明

本人声明：所呈交的本科毕业论文（设计），是本人在指导老师的指导下，独立开展工作所取得的成果，成果不存在知识产权争议，除文中已经注明引用的内容外，本论文不含任何其他个人或集体已经发表或创作过的作品成果。对本文工作做出重要贡献的个人和集体均已在文中以明确方式标明。本人完全意识到本声明的法律结果由本人承担。

本科毕业论文（设计）作者签名：

二○○ 年月日

摘要

智能汽车可以说是一种智能的机器人,这种汽车可以更好的适应不同的工作环境,不会受到温度和湿度和空间辐射和磁场以及重力条件的影响,可以到人们无法进入的环境中完成人们无法的使命,适合于国防等很多领域。这次设计主要是智能车的设计和实现,主要讲述了智能汽车从硬件到软件的设计和实现的全过程。我们可以用一个微分模型的驱动车作为智能汽车的基本载体,系统使用的是可靠性高,抗干扰能力强,工作频率高,系统实时好的16位单片机MC9S12DG l28b作为控制的核心系统。安装CMOS相机负责收集道路信号,作为汽车导航。设计的目标是为了可以使智能汽车可以弯曲不平的道路上跟踪独立运行,不偏离路径,越快越好。在智能车设计目标中,介绍了相应的软件系统和硬件电路的设计,硬件电路主要包括有电源模块、相机模块、日志模块、电机驱动模块,无线通信模块,手动设置模块电路等。在软件控制系统中,设计了一个相机收集信息和图像处理程序,根据道路的信息,可以采用不同的控制方法来控制智能车的速度和方向。汽车的速度系统是采用的PID控制的快速最优控制车速,其结构简单,具有很强的灵活性能,不一定需要一个精确的数字模型;车的方向控制主要是采用的模糊控制的方法,还充分的利用了单片机MC9S12DG l28b本身带来的一些模糊控制命令,简化了模糊调整速度和算法过程,大大减少了计算的时间,更加有利于模糊推理机。在这次设计中,硬件和软件采用的是模块化的结构,可以使整个系统的电路变得更加简单,可靠性也得到了提高,还增加了一个删除功能,是为了可以更好的提高系统的可靠性,系统软件和硬件都采用了抗干扰能力的技术。在电源欠压的情况下系统还会自动的断电。

关键词：舵机控制系统；自动；单片机

ABSTRACT

Smart car is a kind of intelligent robot, the car can better adapt to different working environment, not influenced by temperature and humidity, and space radiation and magnetic field and the influence of gravity condition, can go to the people can't do people could not enter the environment's mission, is suitable for many fields such as national defense. This design mainly is the design and implementation of the smart car, focuses on the smart car from hardware to software design and implementation of the entire process. We can use the model of a differential drive vehicle as a basic carrier of smart cars and system is using high reliability, strong anti-interference ability, high working frequency, the system real time good 16-bit microcontroller MC9S12DG l28b as core of control system. CMOS camera mounted responsible for road signal collection, as the car navigation. Design goal is to make smart car can bend the uneven road track run independently, not deviating from the path, the sooner the better. In the intelligent car design goal, and introduces the corresponding software system and hardware circuit design, hardware circuit mainly includes power supply module, camera module, log module, motor drive module, wireless communication module, manual setting module circuit, etc. In the software control system, designed a camera to collect information and image processing procedures, according to the information of road, can use different control methods to control the speed and direction of intelligent car. The speed of the motor system is to use the fast optimal control the speed of PID control, its structure is simple, has a strong, flexible performance does not necessarily need a precise digital model; The direction of the car control mainly adopt the method of fuzzy control, also full use of the single chip microcomputer MC9S12DG l28b itself brings some of the fuzzy control command, simplifies the fuzzy adjusting speed and the algorithm process, greatly reduce the computing time, more conducive to fuzzy inference machine. In the design of hardware and software USES a modular structure, can make the circuit of the whole system more simple, the reliability has improved, also added a delete function, in order to can better improve the reliability of system, the system software and hardware of the anti-jamming ability of technology has been adopted. In the case of a power supply voltage system will automatically power off.

Keywords: The steering gear control system; Automatically; Single chip microcomputer